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1. vibrations generator in the 1 5 Hz frequency range further work will try to provide an estimation of lifetime expectancy especially when used under moderate load ACKNOWLEDGEMENT Dr Dan Dumitriu gratefully acknowledges the National Authority for Scientific Research ANCS UEFISCDI for financial support through the PN II PT PCCA 2011 3 1 0190 project contract no 149 2012 entitled Reconfigurable Haptic Interfaces used in Dynamic Contact Reproduction Theoretical and Experimental Developments project manager Dr Ligia Munteanu REFERENCES 1 http www thomsonlinear com downloads actuators Precision Linear_Actuators_cten pdf Precision Linear Actuators catalog 84 pages Thomson 2 ZHANG P Industrial Control Technology A Handbook for Engineers and Researchers William Andrew Inc 2008 3 KAMALZADEH A Precision control of high speed ball screw drives PhD thesis University of Waterloo Ontario Canada 2008 4 PUIU G C Contributii privind cresterea performantelor suruburilor cu bile in corelatie cu procesele tribologice PhD thesis Gheorghe Asachi Technical University of Iasi Romania 2012 195 On the acceleration regimes of a Thomson linear motion actuator used as vibrations generator in the 1 3 Hz range 5 NASUI V PAY E COTETIU R LOBONTIU M UNGUREANU N New configuration of linear electromechanical actuators with application to intelligent systems of fabrication Proceedings of2. 2 0 100 0 100 0 Trapezoidal i 42 0 100 0 100 0 Trapezoidal The actuator is controlled offline by the AKD servodrive The tests presented in this paper are performed without charge load Further work will study the influence on the motion profile generation technique of a 100 kg charge to be actuated by this Danaher Thomson linear actuator Figure 2a shows the vertical linear displacement of the drive when performing the motion tasks described in Table 1 i e a successive motion between 5cm and 5cm with a maximum allowed velocity during tasks of 42 cm s and a maximum allowed acceleration deceleration during tasks of 100 cm s More precisely the position feedback PL FB is shown being identical with the position command PL CMD especially due to the fact that the tests are performed without any load Moreover PL FB is almost identical with the sinosidal profile given by Jea A sin 2nf t 5 0 sin 27 1 264 1 cm 1 The oscillo scope of the Kollmorgen WorkBench software is providing us the following commanded digital signals postion command PL CMD velocity command VL CMD and the acceleration command denoted by IL CMDACC The scope provides also the following feedback signals position feedback PL FB and velocity feedback VL FB Since no acceleration feedback is provided by the AKD servodrive of the Danaher Thomson ECT90 servoactuator we have independently measured the drive acceleration using a Bruel amp Kyjzr a
3. BALL SCREW e Screw diameters 32 mm e Screw leads 20 mm e Repeatability 0 05 mm e Motor style PARALLEL e Gear box BELT GEAR e Motor type BRUSHLESS AC SERVO MOTOR e Motor designation AKM53K CNCNR 00 Kollmorgen e Motor feedback RESOLVER e Motor connection CONNECTOR e Motor BRAKE 24Vdc e Lubrication SINGLE POINT LUBRICATION Figure 1 Danaher Thomson parallel B43 AC servo motor 1 The lifetime expectancy of such a ball screw drive device is a function of many important factors including load speed duty cycle ambient temperature and screw type 1 In order to increase as much as possible this lifetime expectancy this paper tries to draw some conclusions concerning the operational acceleration regimes so that to minimize the mechanical shocks and thus the wear of the ball screw As indicated by the Kollmorgen WorkBench software 12 the Motion Tasks are to be provided in terms of positions But when attaining one position starting from the previous position 1 e when performing the elementary task k the user must specify the maximum allowed velocity for task k has to be lt 42 cm s which is the maximum velocity attainable by the drive motion and the maximum allowed D N Dumitriu C Lala D Baldovin 190 acceleration and respectively deceleration during task k has to be lt 167 cm s which is the maximum acceleration deceleration attainable by the drive motion So we can say t
4. SISOM amp ACOUSTICS 2014 Bucharest 22 23 May ON THE ACCELERATION REGIMES OF A THOMSON LINEAR MOTION ACTUATOR USED AS VIBRATIONS GENERATOR IN THE 1 3 HZ FREQUENCY RANGE Dan N DUMITRIU Cornel LALA Daniel BALDOVIN Institute of Solid Mechanics of the Romanian Academy Str Constantin Mille nr 15 010141 Bucharest Romania E mail dumitri04 yahoo com dumitriu imsar bu edu ro Abstract This paper presents technical aspects concerning the use of a Danaher Thomson linear motion actuator to generate vibrations in the 1 3 Hz frequency range The purpose is to include such a ball screw drive electrical actuator in a dynamic car simulator the role of the linear actuator being to reproduce generate the low frequencies vertical vibrations of the driver seat The actuator is controlled in position position mode but in fact the limitations of the actuator in acceleration deceleration maximum acceleration deceleration of 167 cm s and its limitations in velocity maximum velocity of 42 cm s have a significant influence on the generated motion profile The actuator is controlled offline and without charge further work will implement a real time control and will study the influence on the motion profile generation technique of a 100 kg charge to be actuated using this Danaher Thomson linear actuator Keywords Danaher Thomson linear motion electrical actuator ball screw drive control in position acceleration regimes maximum velocity vertic
5. Version 1 10 0 39534 software http www kollmorgen com Copyright Kollmorgen 2009
6. al vibrations 1 INTRODUCTION The intensive level of technology achieved nowadays requires an increased technological knowledge In order to reinforce this technological knowledge the role of technical technological papers is to reinforce the connection between scientific papers and the technological need to simply control a mechanical device motion in a correct manner This technical paper shows how desired linear motion vibrations in the 1 3 Hz frequency range can be achieved using a Danaher Thomson linear actuator with ball screw drive 1 taking into account its limitations in what concerns the maximum velocity and acceleration In what concerns linear motion actuators the electrical actuators are not traditionally recommended as vibrations generators compared with hydraulic or pneumatic actuators which are widely used for generating vibrations providing a very fast response Nevertheless important technological improvements have been lately performed thus electrical linear motion actuators can nowadays be considered as replacements for hydraulic and pneumatic cylinders based on the simplicity of electrical operation on their greater accuracy etc For example it is more economical to install and maintain electrical actuators than pneumatic hydraulic ones the pneumatic hydraulic system including additional components such as compressors piping filters etc 2 So electrical precision linear actuators benefit from cleaner simpler a
7. at concerns the transmission of seat vertical vibrations to driver there are many researches simulating seat suspension dynamics and the effect on ride comfort 10 11 Besides the Danaher Thomson linear motion electrical actuators or other well known international brands of linear motion electrical actuators let us remind the existence of a Romanian technological solution of linear electromechanical actuators with ball roller screw drives proposed by Prof Nasui et al 5 6 from the Technical University of Cluj Napoca North University Centre of Baia Mare 2 DESCRIPTION OF DANAHER THOMSON LINEAR MOTION ELECTRICAL ACTUATOR WITH BALL SCREW DRIVE In the framework of a national project PN IJ PT PCCA 2011 3 1 0190 financially supported by the National Authority for Scientific Research ANCS UEFISCDI we have acquired a Danaher Thomson servoactuator ECT90 called ECT09 B43R02PB 3220 0400 TN 02 in Danaher Motion designation 1 This servoactuator 1s equipped with a Danaher Motion Kollmorgen servodrive AKD P00306 NBCN E000 We will use below the following shortened denomination Danaher Thomson ECT90 servoactuator with AKD servodrive Figure 1 shows such a Danaher Thomson parallel B43 AC servo motor 1 The main mechanical characteristics of the acquired Danaher Thomson ECT90 servoactuator are 1 e Stroke Smax 400 mm 40 cm e Speed up to 420 mm s 42 cm s e Maximum load 1800 N e Profile size wxh 90 x 92 mm e Screw type
8. bration with 4 5cm amplitude and f1 1 264 Hz frequency D N Dumitriu C Lala D Baldovin 192 Let us now try to generate a sinusoidal motion profile with a greater frequency close to 3 Hz Table 2 shows the Motion Tasks for a successive motion between 0 7 cm and 0 7 cm with a maximum allowed velocity during tasks of 42 cm s maximum attainable velocity by our Danaher Thomson ECT90 servoactuator with AKD servodrive and a maximum allowed acceleration deceleration during tasks of 167 cm s maximum attainable acceleration deceleration Table 2 Kollmorgen WorkBench Motion Tasks for a sinusoidal vibration with 4 0 7cm amplitude and f2 2 725 Hz frequency Position cm Velocity Acceleration Deceleration acceleration Following cm s cm s cm s Profile task 167 0 167 0 Trapezoidal 167 0 167 0 Trapezoidal PL FB Position feedback cm VL FB Velocity feedback cm s theoretical SINUS A 0 7cm f 2 725Hz Velocity integrated from Accelerometer measurements WLU HAVA theoretical Velocity derived from SINUS displacement NUMA VAY time s Displacement cm Velocity cm s time s a CMDACC Acceleration command cm s 2 Acceleration measured with independent Accelerometer theoretical Acceleration obtained by double derivation of SINUS displacement Acceleration cm
9. ccelerometer type 4368 fixed on the moving part of the linear drive using adhesive vax The obtained signal has been amplified using a Br el amp Kj r amplifier type 2635 and acquired using a Velleman oscilloscope type PCSU1000 We have registered accelerations from 0 2 Hz up as well as velocities and displacements from 1 Hz up using a sampling time of 0 0016 sec but the velocities and displacements were obtained by analogical integrations performed by the Br el amp Kj r amplifier 191 On the acceleration regimes of a Thomson linear motion actuator used as vibrations generator in the 1 3 Hz range P FB Position feedback cm identical with L_FB Velocity feedback cm s theoretical SINUS with A 5cm f 1 264Hz Position double integrated from Accelerometer f i measurements o theoretical Velocity derived from SINUS displacement Velocity integrated from Accelerometer measurements Displacement cm Hhorabhkh dn son nwab uo oO Velocity cm s time s time s CMDACC Acceleration command cm s 2 Acceleration measured with independent Accelerometer theoretical Acceleration obtained by double derivation of SINUS displacement Acceleration cmis time s c Figures 2 Danaher Thomson ECT90 servoactuator with AKD servodrive used to generate a sinusoidal motion w
10. cessary to detail here this road profile which by CARSIM car dynamics simulations has led to the these vertical displacements of the sprung mass center of mass The important observation in Figure 4 is that such a motion profile can be generated using Danaher Thomson ECT90 servoactuator with AKD servodrive Table 3 shows the Motion Tasks performed by the device to retrieve the desired vertical motion profile Further work will verify if the vertical accelerations of the sprung mass center of mass driver seat also available from the CARSIM simulation are approximately the same with the accelerations supported by the Danaher Thomson ECT90 servoactuator with AKD servodrive when generating the desired motion profile Table 3 Kollmorgen WorkBench Motion Tasks for the retrieved motion profile shown in Figure 4 which corresponds to the vertical displacement of a driver seat during a real ride no cm s cm s cm s Profile task o5 49S 3 30 Trapezoid 6 o 6 1120 10 f 167 f 167 Trapezoid 7 O 7 f 1260 10 f 167 f 167 Trapezoid 8 o 8 1062 5 S 25 Trapezoidl 9 poo fo 1284 167 Trapezoidal 10 14 0663 10 f 167 f 80 Trapezoid 15 22 23 23 1944 15 9 9 Trapezoidal l D N Dumitriu C Lala D Baldovin 194 Motion profile to be retrieved corresponds to some driver seat vertical displacement Motion profile RETRIEVED using the Danaher Thomson E90
11. hat the actuator is controlled in position position mode but in fact the limitations of the actuator in acceleration maximum acceleration deceleration of 167 cm s and its limitations in velocity maximum velocity of 42 cm s have a significant influence on the generated motion profile In fact the control in position is more or less what we need in order to reproduce in a dynamic car simulator the vertical displacements of the driver seat corresponding to a real drive in our case simulated using CARSIM 3 DANAHER THOMSON ECT90 SERVOACTUATOR WITH AKD SERVODRIVE USED AS VIBRATIONS GENERATOR IN THE 1 3 HZ FREQUENCY RANGE Table 1 shows the Motion Tasks for a successive motion between 5cm and Scm with a maximum allowed velocity during tasks of 42 cm s maximum attainable velocity by our Danaher Thomson ECT90 servoactuator with AKD servodrive and a maximum allowed acceleration deceleration during tasks of 100 cm s less than the maximum attainable of 167 cm s In what concerns the acceleration profile the trapezoidal profile has been used so far being simpler and more appropriate for our need to reproduce a vibratory vertical displacement Further work will test also the OneToOne S Curve profile Table 1 Kollmorgen WorkBench Motion Tasks for a sinusoidal vibration with 4 5cm amplitude and 1 264 Hz frequency o Position cm Velocity e oi Eo i acceleration Following cm s cm s cm s Profile a 4
12. ith 4 5cm and f 1 264Hz a Displacements b Velocities c Accelerations Figure 2a compares the position feedback PL FB provided by the AKD servodrive with the displacement obtained by double integration from Briiel amp Kjzr accelerometer measurements The small diiferences are explained by the not very accurate precision of the measured acceleration double integration by the Br el amp Kj r amplifier Figure 2b shows the velocity feedback VL FB provided by the AKD servodrive versus the velocity integrated by the Br el amp Kj r amplifier from accelerometer measurements both compared with the theoretical velocity derived from the sinusoidal profile 1 Vesti Xs 27f 4 cos 2nf 1 Oy 20 1 264 5 0 cos 2n 1 264 4 em s 2 No major differences are observed in Figure 2b between the different velocities Deriving 2 one more time the theoretical acceleration derived from the sinuosidal profile 1 1s obtained Arect 1 Kies 20 A sin 2nf 1 FO 1 27 1 264 5 0 sin 2n 1 264 Po cm s 3 Figure 2c compares this theoretical acceleration 3 with the acceleration command IL CMDACC provided by the AKD servodrive and with the independently measured accelerations using the Br el amp Kj r accelerometer which was slightly perturbed by ambient vibration noise There are no major differences leading to the conclusion that the motion task described in Table 1 consists in a sinusoidal vertical vi
13. nd more energy efficient power transmission being also less noisy than hydraulic or pneumatic actuators 1 As electric devices they are much easier to integrate with modern programmable controls being naturally well suited for use in real time systems in conjunction with feedback control 3 In what concerns the life expectancy of electrical actuators with ball screw drives there are still advances to be made current research trying to increase the performance of ball screw drives in correlation with the associated tribological and wear processes in such linear rolling guidance systems 4 6 The ball screw drive electrical actuator will be used to generate vibrations in the 1 3 Hz frequency range corresponding more or less to the vertical vibrations to be induced under the seat driver of a dynamic car simulator Full car dynamics computer simulations have been intensively studied for many years thus the vertical displacements and accelerations of the seat driver can be easily obtained 7 In our case CARSIM 189 On the acceleration regimes of a Thomson linear motion actuator used as vibrations generator in the 1 3 Hz range software 8 is used as full car dynamics simulator for generating the vertical vibrations induced under the driver seat by the car ride on the considered road profile Of course real measurements of the vertical vibrations under the driver seat during car rides can also be performed if necessary without difficulty In wh
14. s time s Figures 3 Danaher Thomson ECT90 servoactuator with AKD servodrive used to generate a sinusoidal motion with 4 0 7cm and fo 2 725Hz a Displacements b Velocities c Accelerations Figures 3 show the same comparisons as for previous example between the displacements velocities and accelerations provided by the AKD servodrive versus the independent measurements using the Briiel amp Kjzr accelerometer displacements were no more compared here due to the problematic double integration by the Briiel amp Kjzr amplifier of the measured acceleration both compared with the theoretical sinusoidal motion profile corresponding to this second test 193 On the acceleration regimes of a Thomson linear motion actuator used as vibrations generator in the 1 3 Hz range Nest Ay sin 2nf 1 o2 0 7 sin 27 2125 44 Poz cm Visi Xe p 21 A cos 2nf t Po SIR 2 ISOT cos 2n Dal DIRE Poz cm s 4 rect Xrecty 27 A sin 2nf 1 Po 27 2 725 0 7 sin 2n 2 1 20 0 Po cm s Finally Figure 4 shows how the Danaher Thomson ECT90 servoactuator with AKD servodrive was able to retrieve the vertical displacements of the driver seat during a real ride in our case simulated using CARSIM These vertical displacements are in fact the displacements of the center of mass of the car sprung mass not exactly of the driver seat and correspond to some real road profile considered in paper 11 It is not ne
15. servoactuator with AKD servodrive O D D z S Q 2 v T 2 D gt time s Figure 4 Retrieval of a motion profile corresponding to the vertical vibrations of the driver seat during a real ride using Danaher Thomson ECT90 servoactuator with AKD servodrive 4 CONCLUSIONS AND FUTURE WORK This paper presents some experimental results concerning the use of a Danaher Thompson ECT90 servoactuator with AKD servodrive for generating linear vibrations in the 1 3 Hz frequency range More precisely two sinusoidal vibratory motions were performed one sinusoidal vibration with A Scm amplitude and f 1 264 Hz frequency and a second sinusoidal vibration with A 0 7cm amplitude and f2 2 725 Hz frequency The desired motion profiles were obtained with very good precision accuracy by the Danaher Thompson ECT90 servoactuator with AKD servodrive So far the actuator was controlled offline and without charge Further work will implement a real time control and will study the influence on the motion profile generation technique of a 100 kg charge to be actuated using this Danaher Thomson linear actuator In our current view this device can generally be used for generating only vibrations below 5 Hz For higher frequency mechanical vibrations this electrical device is not fast enough In what concerns the lifetime expectancy of this Danaher Thomson linear actuator with ball screw drive when used as
16. the 15th International Conference on Manufacturing Systems ICMaS Bucharest Romania October 26 27 2006 pp 273 276 Editura Academiei Romane ISSN 1842 3183 6 NASUL V On the dynamics regulation of programming motion electromechanical linear actuator International Conference on Diagnosis and Prediction in Mechanical Engineering Systems DIPRE 07 Galati Romania October 26 27 2007 In The Annals of University Dun rea de Jos of Galati Fascicle VIII Tribology ISSN 1221 4590 pp 61 66 2007 7 MAAKAROUN S Mod lisation et simulation dynamique d un v hicule urbain innovant en utilisant le formalisme de la robotique PhD thesis Universit de Nantes France 2011 8 MECHANICAL SIMULATION CORPORATION CARSIM software http www carsim com 9 GUNSTON T P REBELLE J GRIFFIN M J A comparison of two methods of simulating seat suspension dynamic performance Journal of Sound and Vibration 278 2 pp 117 134 2004 10 AZIZAN M A FARD M Effects of vehicle seat dynamics on ride comfort assessment 20th International Congress on Sound amp Vibration ICSV20 Bangkok Thailand July 7 11 2013 11 DUMITRIU D N BRISAN C MUNTEANU L Influence of real car longitudinal acceleration regime on the vertical vibrations of a dynamic car simulator ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis ESDA2014 Copenhagen Denmark June 25 27 2014 12 Kollmorgen WorkBench
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